From f4ec3d6f45fa4d46b9261975924538726c189acc Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Sat, 5 Oct 2024 14:47:58 +0100 Subject: [PATCH] cleanup --- controller_interface/src/chainable_controller_interface.cpp | 2 -- .../include/hardware_interface/resource_manager.hpp | 2 +- hardware_interface/src/resource_manager.cpp | 2 +- 3 files changed, 2 insertions(+), 4 deletions(-) diff --git a/controller_interface/src/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp index 06ba17a30d..ce19eff9b9 100644 --- a/controller_interface/src/chainable_controller_interface.cpp +++ b/controller_interface/src/chainable_controller_interface.cpp @@ -107,8 +107,6 @@ ChainableControllerInterface::export_reference_interfaces() // check if the "reference_interfaces_" variable is resized to number of interfaces if (reference_interfaces_.size() != reference_interfaces.size()) { - // TODO(destogl): Should here be "FATAL"? It is fatal in terms of controller but not for the - // framework std::string error_msg = "The internal storage for reference values 'reference_interfaces_' variable has size '" + std::to_string(reference_interfaces_.size()) + "', but it is expected to have the size '" + diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp index 69c8fe2f1f..ece45e3146 100644 --- a/hardware_interface/include/hardware_interface/resource_manager.hpp +++ b/hardware_interface/include/hardware_interface/resource_manager.hpp @@ -141,7 +141,7 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager * \param[in] interfaces list of controller's state interfaces as StateInterfaces. */ void import_controller_exported_state_interfaces( - const std::string & controller_name, std::vector> & interfaces); + const std::string & controller_name, std::vector & interfaces); /// Get list of exported tate interface of a controller. /** diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp index 93518af7e3..86f189deab 100644 --- a/hardware_interface/src/resource_manager.cpp +++ b/hardware_interface/src/resource_manager.cpp @@ -1241,7 +1241,7 @@ bool ResourceManager::state_interface_is_available(const std::string & name) con // CM API: Called in "callback/slow"-thread void ResourceManager::import_controller_exported_state_interfaces( - const std::string & controller_name, std::vector> & interfaces) + const std::string & controller_name, std::vector & interfaces) { std::lock_guard guard(resource_interfaces_lock_); auto interface_names = resource_storage_->add_state_interfaces(interfaces);